SOEM Driver for Festo CPX-FB37

Hi all :)

I'm trying to controll a Festo CPX-FB37 bus node (https://www.festo.com/net/SupportPortal/Files/344605/CPX-FB37_2014-06_8029675g1.pdf) via ros, using SOEM... I followed this instruction (https://github.com/orocos/rtt_ros_integration) to install orocos and later used these 2 repositorys (https://github.com/orocos/rtt_soem && https://github.com/smits/soem). I think, I nearly made it work. The main problem is, that there's no soem-driver for the device I'm using.

Does anybody have a soem-driver for this device or can anybody help or show me, how to write this driver on my own?

Thanks in advance!

kind regards, Philipp

Asked by schwarzp93 on 2018-10-01 08:21:07 UTC

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Answers

Again a very late answer:

The only way that I have been able to make things work with SOEM and ROS is to implement the drivers for the devices you need yourself. This typically involved going over the examples, reading the relevant documentation (that you linked to) and a lot of trial an error.

You should also read up on the protocol you use (most often this is actually CoE, which requires a deeper understanding of CanOpen on the one hand, and how this realtes to EtherCAT on the other, which makes things even more confusing).

Asked by mgruhler on 2019-03-12 02:11:02 UTC